The Design of Two-Wheeled Robotic Self-Balancing Walking Control System

Abstract

Research on mobile robots has become a popular field in robot research because of the broad application prospects of mobile robots in all walks of life. Considering the complicated designs and high prices of the Humanoid robots' different DoF (Degree of Freedom), a two-wheeled robotic self-balancing walking control system is designed in the paper. The system uses the microcontroller as the control core, the attitude sensor to collect the angular velocity and acceleration data, and the Kalman filter to perform data fusion to obtain the optimal inclination and to realize the tilt control. It also uses the encoder to measure the walking speed to realize the speed control in the front and rear direction. The steering control of the robot is realized by the rotational difference between the two motors. The experiment proves that the two-wheeled robot can walk upright and keep balance, and has the advantages of simple structure, convenient parameter adjustment and low cost.